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Unformatted text preview: ont.) Nonlinear system:
Let u0 be a nominal input and let the resultant
state be x0
Taylor series expansion:
Taylor notice that N. sys
7 ; hence L. sys.
8 Linearization of a pendulum model
Motion of the pendulum
Motion Linearization of a pendulum model (cont’)
Taylor series expansion of
Taylor Linearize it at
9 Time delay transfer function 10 Summary and Exercises TF derivation
TF Modeling of
Systems with time delay
(Memorize this!) Modeling of DC motors
Exercises The more time delay is, the more difficult to
control (Imagine that you are controlling the
temperature of your shower with a very long
hose. You will either get burned or frozen!) Linearize the pendulum model at π/4
Linearize 11 12...
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This document was uploaded on 03/02/2014 for the course ME 451 at Michigan State University.
- Spring '08